基于一致性协议的多无人机协同围捕控制方法

doi:10.12305/j.issn.1001-506X.2021.09.17

Abstract

Abstract:

In view of the problem of unmanned aerial vehicle (UAV) cooperative capture of moving target, a fast cooperative capture control algorithm is designed. Firstly, the dynamic game relationship between UAV and target is designed based on the artificial potential field method, which makes the movement of target closer to the behavior pattern of the escapee in the real scene. Secondly, by using the velocity relationship between UAV and target, the two-dimensional Apollonius circle is extended to three-dimensional Apollonius ball, and the capture formation UAV formation is designed through the Apollonius ball. Then, the target information obtained by UAV is introduced into the consensus protocol to complete the cooperative formation capture of UAV formation, and the two hop network is introduced to accelerate the convergence of the capture formation, which improves the task execution efficiency of UAV formation. Finally, the simulation experiment results show the effectiveness of the control algorithm.

Key words: consensus protocol, capture, unmanned aerial vehicle (UAV) formation, Apollonius circle

CLC Number:

V249
V279

Xiaowei FU, Zihao CHEN. Cooperative capture control method for multi-UAV based on consensus protocol[J]. Systems Engineering and Electronics, 2021, 43(9): 2501-2507.

Figures/Tables 8

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References 30

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Cooperative capture control method for multi-UAV based on consensus protocol

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